Robot device and method of controlling the robot device

ABSTRACT

Provided is a robot device including a drive unit including a plurality of links and joints connecting the links, a task instruction input unit for inputting an instruction of a task, a drive control unit for controlling an operation of the drive unit on the basis of the input task and determining a restricted area including a space necessary for the operation of the drive unit, and an area display unit for displaying the restricted area.

CROSS-REFERENCES TO RELATED PATENT APPLICATION

The present application is a continuation application of U.S. patentapplication Ser. No. 13/456,489, filed Apr. 26, 2012, which claims thebenefit of priority from prior Japanese Priority Patent Application JP2011-105514 filed in the Japan Patent Office on May 10, 2011, the entirecontent of which is hereby incorporated by reference. Each of theabove-referenced applications is hereby incorporated herein by referencein its entirety.

BACKGROUND

The present technology disclosed in this specification relates to arobot device, which communicates with humans and the like (includingadults, children, and pets) within a home environment, a method ofcontrolling the same, and a program for controlling the same, and moreparticularly to a robot device, which takes appropriate safety measuresfor humans and the like, a method of controlling the same, and a programfor controlling the same.

Demands for mechatronic devices such as household robots designed to dohousehold chores, care, or the like for humans are increasing. Theserobots communicate with the humans and the like (including adults,children, and pets) within home environments. In the future, the robotsare predicted to be deeply rooted in dwelling spaces of humans. Incombination with this, there is an urgent need to secure the safety ofrobots that operate in the dwelling spaces.

In the case of industrial robots, general practice is to completelyprevent contact with humans and secure the safety by installing barrierson the outsides of work areas corresponding to all movable ranges of therobots. Further, a sensor, which detects the entry of a human and thelike, may be installed in a barrier and safety measures may be taken tocause the robot to be in an emergency stop state when entry has beensensed.

On the other hand, in the case of household robots, if a barrier isinstalled on the outside of a work area, a movable range would be theentire living room, and thus humans would be unable to live in a livingroom. In addition, it is difficult to surround all work areas withbarriers because the household robots work in physical contact with thehumans.

In addition, the industrial robot is designed so that the human does notapproach the robot by causing a warning sound or a warning lamp toconstantly operate during movement. For example, an industrial robot,which generates a warning sound according to a manipulator-selectedspeed, has been proposed (for example, see Japanese Patent ApplicationLaid-Open No. 6-63882). Alternatively, safety measures may be taken byperforming an emergency stop when a human or obstacle approaches withina predetermined distance by installing a distance sensor, which sensesthe human or obstacle, in the robot.

However, if the household robot constantly operates the warning sound orthe warning lamp regardless of a degree of interference to a task of therobot, a user may not live calmly due to noisiness in the sameenvironment. In addition, it is difficult to implement tasks such ashousehold chores or care according to physical contact if the emergencystop is performed when a human or obstacle approaches within apredetermined distance.

SUMMARY

It is desirable to provide an excellent robot device, a method ofcontrolling the same, and a program for controlling the same, which canenable appropriate safety measures to be taken for a human and the likein a home environment.

According to an embodiment of the present technology, there is provideda robot device including: a drive unit including a plurality of linksand joints connecting the links; a task instruction input unit forinputting an instruction of a task; a drive control unit for controllingan operation of the drive unit on the basis of the input task anddetermining a restricted area including a space necessary for theoperation of the drive unit; and an area display unit for displaying therestricted area.

In the robot device according to another embodiment of the presenttechnology, the drive control unit predicts a space necessary for apredetermined time so as to implement the input task, and determines therestricted area based on the prediction result.

In the robot device according to another embodiment of the presenttechnology, the drive unit is configured to further include a movingunit for moving a position of the robot device. The drive control unitis configured to predict a space necessary at a moving position at eachtime until the predetermined time has elapsed, and determine therestricted area based on a prediction result.

According to another embodiment of the present technology, the robotdevice further includes: a recognition unit for recognizing a human orobstacle within a work environment. The area display unit is configuredto display the restricted area when the human or obstacle recognized bythe recognition unit is located within the restricted area.

According to another embodiment of the present technology, the robotdevice further includes: a recognition unit for recognizing a human orobstacle within a work environment. The drive control unit is configuredto cause the drive unit to operate on the basis of the input task untilafter a certain time has elapsed when the human or obstacle recognizedby the recognition unit is not located within the restricted area.

According to another embodiment of the present technology, the robotdevice further includes: a recognition unit for recognizing a human oranimal within a work environment; and a warning unit for issuing awarning so that the human or animal recognized by the recognition unitleaves the restricted area when the human or animal is located withinthe restricted area.

In the robot device according to another embodiment of the presenttechnology, the warning unit is configured to issue the warning usingone of a message audio output, blank shot, smell, and hot air or acombination of two or more thereof.

According to another embodiment of the present technology, there isprovided a method of controlling a robot device, including: inputting aninstruction of a task; controlling an operation of a drive unit, of therobot device, including a plurality of links and joints connecting thelinks on the basis of the input task; determining a restricted areaincluding a space necessary for the operation of the drive unit; anddisplaying the restricted area.

According to another embodiment of the present technology, there isprovided a robot device control program for causing a robot device to bedriven as: a drive unit, of the robot device, including a plurality oflinks and joints connecting the links; a task instruction input unit forinputting an instruction of a task; a drive control unit for controllingan operation of the drive unit on the basis of the input task anddetermining a restricted area including a space necessary for theoperation of the drive unit; and an area display unit for displaying therestricted area.

According to the embodiments of the present disclosure described above,it is possible to provide an excellent robot device, a method ofcontrolling the same, and a program for controlling the same, which canenable appropriate safety measures to be taken for a human and the likein a home environment.

The robot device disclosed in this specification is configured to detectthe existence of a human or the like, determine whether or not theaction of the human or the like interferes with task execution of therobot device, specify a restricted area when the interference isdetermined to be present, and issue a warning. Its advantageous effectsare as follows.

(1) A household robot that executes a task according to an instructioncan take appropriate safety measures within a home environment.

(2) It is possible to specify a subsequent restricted area predicted forevery task and urge a human or the like to move.

(3) It is possible to narrow down the restricted area to an appropriaterestricted area by adjusting a predetermined time for every task.

(4) It is possible to guide a human or the like entering the restrictedarea outside the area through a warning.

(5) It is possible to enable a task to be seamlessly continued byphysically guiding a human's approach.

(6) Because a specified restricted area can be limited only to adangerous area of a task to be currently executed, an influence of therestricted area on a home environment is reduced.

Other objects, features and advantages of the present disclosure willbecome more apparent from the following further detailed description ofembodiments of the present disclosure taken in conjunction with theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a diagram illustrating the external appearance of a robotdevice 100 to which the present technology disclosed in thisspecification is applicable;

FIG. 2 is a diagram schematically illustrating a joint degree-of-freedomconfiguration of the robot device 100 to which the present technologydisclosed in this specification is applicable;

FIG. 3 is a diagram schematically illustrating a functionalconfiguration of the robot device 100 to which the present technologydisclosed in this specification is applicable;

FIG. 4 is a flowchart illustrating a processing procedure when the robotdevice 100 executes a task according to an instruction;

FIG. 5 is a diagram illustrating a state in which the robot device 100issues a visual warning of a restricted area;

FIG. 6 is a diagram illustrating a state in which a human or the likeleaves the restricted area according to the visual warning of therestricted area by the robot device 100;

FIG. 7 is a diagram illustrating a state in which a human or the likeleaves the restricted area by the robot device 100 outputting hot airfrom a warning device 326 with an audible warning; and

FIG. 8 is a diagram illustrating an estimated trajectory of the robotdevice 100 and the restricted area at each time.

DETAILED DESCRIPTION OF THE EMBODIMENT(S)

Hereinafter, preferred embodiments of the present disclosure will bedescribed in detail with reference to the appended drawings. Note that,in this specification and the appended drawings, structural elementsthat have substantially the same function and structure are denoted withthe same reference numerals, and repeated explanation of thesestructural elements is omitted.

Hereinafter, embodiments of the present disclosure will be describedwith reference to the drawings.

In FIG. 1, the external appearance of a robot device to which thepresent technology disclosed in this specification is applicable isillustrated. The robot device 100 is a link tectonic belt in which aplurality of links are connected by joints, each of which is operated byan actuator. In FIG. 2, a joint degree-of-freedom configuration of therobot device 100 is schematically illustrated. Although the illustratedrobot device 100 mainly installed in a home environment performshousehold chores or care, the robot device 100 is available for variouspurposes such as industrial uses.

The illustrated robot device 100 is provided with two drive wheels 101Rand 101L facing a base unit as moving means. The drive wheels 101R and101L are driven by drive-wheel actuators 102R and 102L, each of whichrotates around a pitch axis. In FIG. 2, reference numerals 151, 152, and153 denote non-existent underactuated joints. The joints 151, 152, and153 correspond to a degree of translational freedom of an X direction(front-back direction) to a floor surface of the robot device 100, adegree of translational freedom of a Y direction (left-right direction),and a degree of rotational freedom around a yaw axis, respectively. Thejoints 151, 152, and 153 are expressions of moving of the robot device100 around the virtual world.

The moving means is connected to an upper body via a hip joint. The hipjoint is driven by a hip-joint axis actuator 103 that rotates around thepitch axis. The upper body is constituted by two limbs including leftand right arm portions and a head portion connected via a neck joint.The left and right arm portions each have a total of seven degrees offreedom including three degrees of freedom of a shoulder joint, twodegrees of freedom of an elbow joint, and two degrees of freedom of awrist joint. The three degrees of freedom of the shoulder joint aredriven by a shoulder-joint pitch-axis actuator 104R/L, a shoulder-jointroll-axis actuator 105R/L, and a shoulder-joint yaw-axis actuator106R/L. The two degrees of freedom of the elbow joint are driven by anelbow-joint pitch-axis actuator 107R/L and an elbow-joint yaw-axisactuator 108R/L. The two degrees of freedom of the wrist joint aredriven by a wrist-joint roll-axis actuator 109R/L and a wrist-jointpitch-axis actuator 110R/L. In addition, two degrees of freedom of theneck joint are driven by a neck-joint pitch-axis actuator 111 and aneck-joint yaw-axis actuator 112. In addition, one degree of freedom ofa hand joint is driven by a hand-joint roll-axis actuator 113R/L.

Although the illustrated robot device 100 has moving means of two facingwheels, the present technology disclosed in this specification is notlimited to the moving means of the two facing wheels. For example, thepresent technology disclosed in this specification can also be appliedto the robot device 100 having leg type moving means.

FIG. 3 schematically illustrates a functional configuration of the robotdevice 100. The robot device 100 includes a control unit 310, whichperforms integrated control of the entire operation or processes data,an input/output (I/O) unit 320, and a drive unit 330. Hereinafter, theseunits will be described.

The I/O unit 320 includes a camera 321 corresponding to the eye of therobot device 100, a distance sensor 322, which detects a distance to ahuman or obstacle, a microphone 323 corresponding to the ear of therobot device 100, and the like as input units. The robot device 100 canreceive a task instruction by an audio input of a user, for example,from the microphone 323. However, the robot device 100 may have anothertask-instruction input means (not illustrated) via a wired link, awireless link, recording media, or the like.

In addition, the I/O unit 320 includes a speaker 324 corresponding tothe mouth of the robot device 100, an area display device 325 forspecifying a restricted area, a warning device 326 for warning a humanor the like entering the restricted area, and the like as output units.The distance sensor 322 is constituted by a space sensor, for example,such as a laser range finder or the like. The area display device 325 isconstituted by a laser projector or the like, and used to display adangerous area as will be described later. The warning device 326 issuesa warning by means other than an audio by the speaker 324, and, forexample, fires a blank shot, emits a smell a human or the like hates, oroutputs hot air.

The drive unit 330 is a functional module for implementing a degree offreedom in each joint of the robot device 100, and is constituted by aplurality of drive units provided for each roll, pitch, or yaw axis ineach joint. Each drive unit is constituted by a combination of a motor331, which performs a rotation operation around a predetermined axis, anencoder 332, which detects a rotation position of the motor 331, and adriver 333, which adaptively controls a rotation position or a rotationspeed of the motor 331 on the basis of the output of the encoder 332.

The control unit 310 includes a recognition unit 310-1, a drive controlunit 320-2, and an environment map 310-3.

The recognition unit 310-1 recognizes a surrounding environment on thebasis of information obtained from the input unit such as the camera 321or the distance sensor 322 within the I/O unit 320. For example, therecognition unit 310-1 pre-constructs the environment map 310-3 on thebasis of the input information. In addition, the recognition unit 310-1determines an autonomous moving object of a human or the like fromtemporal variation of the environment map 310-3.

The drive control unit 310-2 controls the output unit of the I/O unit320 or the drive of the drive unit 330. For example, the drive controlunit 310-2 controls the drive unit 330 for enabling the robot device 100to implement tasks such as household chores or care according to aninstruction. In addition, if a restricted area of a human or the like iscalculated on the basis of action prediction in the task, the drivecontrol unit 310-2 causes the area display device 325 to display therestricted area. In addition, the drive control unit 310-2 causes thewarning device 326 to issue a warning when the position of theautonomous moving object such as the human or the like recognized by therecognition unit 310-1 overlaps the restricted area.

Next, methods of efficient safety measures for enabling the robot device100 to implement the co-existence with humans and the like (includingadults, children, and pets) within the home environment and the likewill be described.

As compared to the industrial robot, the household robot has a featurein that a task according to an instruction from the user is done withoutperforming a predetermined iteration operation. In addition, in thehousehold robot, action constantly varies with a task according to aninstruction, and a movable range, which should serve as a restrictedarea of humans and the like, varies. Thus, it is difficult to install abarrier in a work area for safety measures as in the industrial robots.

In the robot device 100 according to this embodiment, the recognitionunit 310-1 constructs the environment map 310-3 on the basis ofinformation obtained from the input unit such as the camera 321 or thedistance sensor 322 of the I/O unit 320. The recognition unit 310-1constantly detects a positional relationship of a human or the like onthe environment map 310-3, and determines an autonomous moving objectsuch as a human or the like from temporal variation of the environmentmap 310-3.

In addition, the robot device 100 according to this embodiment takessafety measures by specifying a predicted restricted area by the areadisplay device 325 for every task and urging the human or the like notto enter the restricted area.

Further, when the position of the autonomous moving object such as thehuman or the like overlaps the restricted area, the robot device 100according to this embodiment secures an appropriate work area within thehome environment by causing the warning device 326 to issue a warningand actively guiding the human or the like outside the area.

In FIG. 4, a processing procedure when the robot device 100 executes atask according to an instruction is illustrated in the form of aflowchart.

If the processing procedure is started by receiving an instruction ofthe task, the robot device 100 first calculates a restricted area bypredicting a space necessary for a predetermined time when the task isexecuted according to the instruction on the indoor environment map310-3 in which the robot device 100 is installed (step S401). Therestricted area corresponds to a work area assumed from an arm positionor the like in a task to be executed by the robot device 100 or an areain which a margin is further added to the work area.

Then, a human or the like is sensed on the environment map 310-3 on thebasis of the input information from the distance sensor 322 or the like(step S402).

Then, it is checked whether the human or the like sensed in step S402 islocated in the restricted area calculated in step S401 (step S403).

Here, when there is no human in the restricted area (No of step S403),the robot device 100 executes a task for a predetermined time bycontrolling the drive of the drive unit 330 by the drive control unit310-2 (step S406). Thereafter, the robot device 100 returns to theprocess of step S401.

On the other hand, when the human is determined to be present in therestricted area (Yes of step S403), the robot device 100 issues a visualwarning of the restricted area by projecting the restricted area by thearea display device 325 constituted by a laser projector or the like. InFIG. 5, a state in which the robot device 100 issues the visual warningof the restricted area is illustrated. In addition, FIG. 6 illustrates astate in which the robot device 100 issues a visual warning for urging ahuman or the like to move from the restricted area and the human or thelike leaves the restricted area according to the visual warning. Inaddition, the robot device 100 issues an audible warning such as anaudio or blank shot, which generates an instruction of withdrawal fromthe restricted area, from the speaker 324. Further, the robot device 100warns the human or the like to leave the restricted area by emitting asmell the human or the like hates or outputting hot air using thewarning device 326 (step S404). FIG. 7 illustrates a state in which therobot device 100 issues an audible warning indicating the message,“Please move outside the red line (projected by the area display device325),” and causes the human or the like to leave the restricted area byoutputting hot air from the warning device 326. In FIG. 7, a warning isissued by a sound, light, blank shot, or smell and urges the human orthe like to move in addition to the display of the restricted areaillustrated in FIG. 6. The robot device 100 iterates the above-describedwarning a predetermined number of times by returning to step S402 untilthe human or the like leaves the restricted area (No of step S405).

When the robot device 100 does not secure the safety as in the casewhere the human or the like does not leave the restricted area even whenthe warning is iterated a predetermined number of times (Yes of stepS405), the robot device 100 takes its own avoidance action so that thehuman or the like moves outside the restricted area (step S407). Therobot device 100 returns to the process of step S401.

Here, the restricted area calculated in step S401 will be described.

In a task to be executed by the robot device 100 at a current time t, aposition of the robot device 100 is assumed to be P(t). When a position(x(t), y(t), z(t)) at a time t of the robot device 100 is expressed, forexample, by a cubic spline, the position P(t) at the current time t canbe described as shown in the following Expression (1).

$\begin{matrix}{{P(t)} = {\begin{bmatrix}{x(t)} \\{y(t)} \\{z(t)}\end{bmatrix} = \begin{bmatrix}{{{ax} \times t^{3}} + {{bx} \times t^{2}} + {{cx} \times t} + {dx}} \\{{{ay} \times t^{3}} + {{by} \times t^{2}} + {{cy} \times t} + {dx}} \\{{{az} \times t^{3}} + {{bz} \times t^{2}} + {{cz} \times t} + {dx}}\end{bmatrix}}} & (1)\end{matrix}$

In addition, in the task to be executed by the robot device 100 at thecurrent time t, the restricted area assumed from an arm position or thelike is temporarily considered as a circle of which the center is a mainbody of the robot device 10, and its radius is set as R(t).

It is necessary to calculate a work area after the passage of apredetermined time from a current time so as to predict a necessaryspace from action prediction of the robot device 100 that executes atask according to an instruction and display the restricted area.

If the predetermined time set temporarily is te, the restricted area ata time t+te when the predetermined time te has elapsed from the currenttime t can be expressed by a position P(t+te) of the robot device 100 atthe time and a radius R(t+te) of the restricted area at the time.

In FIG. 8, a trajectory based on action prediction of the robot device100, which performs a task according to an instruction, and a restrictedarea at each time are illustrated. However, the restricted area istemporarily considered as a circle of which the center is a main body ofthe robot device 100. In the same drawing, the restricted area at thetime t+te is displayed in gray. Although the radius of the restrictedarea at each time varies according to a task in execution, the radiusmay be handled to be constant for convenience of a calculation.

An area where the robot device 100 moves from the current time t to thetime t+te when the predetermined time te has elapsed becomes a necessarywork area. Thus, the restricted area is set by dividing thepredetermined time te from the current time t into several steps andcontinuously connecting a necessary work area of each step.

In this calculation, a calculation amount capable of being processed mayalso be adjusted according to the performance of hardware provided inthe control unit 310 of the robot device 100. Thus, the calculation ofthe restriction area may be approximated by adjusting the number ofsteps for the predetermined time te according to the performance ofhardware.

In the example illustrated in FIG. 8, the predetermined time te from thecurrent time is broken down into three steps of times t1, t2, and te.Therefore, a finally necessary restricted area is obtained byapproximately connecting restricted areas calculated as radiuses R(t),R(t+t1), R(t+t2), and R(t+te) in positions of the robot device 100 attimes t, t+t1, t+t2, and t+te as indicated by the dotted line.

As described above, the robot device 100 according to this embodimentcan take appropriate safety measures within a home environment when atask is performed according to an instruction.

In addition, the robot device 100 according to this embodiment canspecify a subsequent restricted area predicted for each task and urge ahuman or the like to move.

In addition, the robot device 100 according to this embodiment cannarrow down the restricted area to an appropriate restricted area byadjusting a predetermined time for each task.

In addition, the robot device 100 according to this embodiment can guidea human or the like entering the restricted area outside the areathrough a warning.

In addition, the robot device 100 according to this embodiment enables atask to be seamlessly continued by physically guiding a human'sapproach.

In addition, because the robot device 100 according to this embodimentlimits a specified restricted area to only a dangerous area of a task tobe currently executed, an influence of the restricted area on a homeenvironment is reduced. The technology disclosed in this specificationcan have the following configuration.

(1) A robot device includes a drive unit including a plurality of linksand joints connecting the links; a task instruction input unit forinputting an instruction of a task; a drive control unit for controllingan operation of the drive unit on the basis of the input task anddetermining a restricted area including a space necessary for theoperation of the drive unit; and an area display unit for displaying therestricted area.

(2) In the robot device according to (1), the drive control unitpredicts a space necessary for a predetermined time so as to implementthe input task, and determines the restricted area based on theprediction result.

(3) In the robot device according to (2), the drive unit furtherincludes a moving unit for moving a position of the robot device, andthe drive control unit predicts a space necessary at a moving positionat each time until the predetermined time has elapsed, and determinesthe restricted area based on a prediction result.

(4) The robot device according to any one of (1) to (3) furtherincludes: a recognition unit for recognizing a human or obstacle withina work environment, wherein the area display unit displays therestricted area when the human or obstacle recognized by the recognitionunit is located within the restricted area.

(5) The robot device according to (1) further includes a recognitionunit for recognizing a human or obstacle within a work environment,wherein the drive control unit causes the drive unit to operate on thebasis of the input task until after a certain time has elapsed when thehuman or obstacle recognized by the recognition unit is not locatedwithin the restricted area.

(6) The robot device according to any one of (1) to (3) furtherincludes: a recognition unit for recognizing a human or animal within awork environment; and a warning unit for issuing a warning so that thehuman or animal recognized by the recognition unit leaves the restrictedarea when the human or animal is located within the restricted area.

(7) In the robot device according to (6), the warning unit issues thewarning using one of a message audio output, blank shot, smell, and hotair or a combination of two or more thereof.

(8) A method of controlling a robot device includes: inputting aninstruction of a task; controlling an operation of a drive unit, of therobot device, including a plurality of links and joints connecting thelinks on the basis of the input task; determining a restricted areaincluding a space necessary for the operation of the drive unit; anddisplaying the restricted area.

(9) A robot device control program causes a robot device to be drivenas: a task instruction input unit for inputting an instruction of atask; a control unit for controlling an operation of a drive unit, ofthe robot device, including a plurality of links and joints connectingthe links on the basis of the input task; a restricted areadetermination unit for determining a restricted area including a spacenecessary for the operation of the drive unit; and an area display unitfor displaying the restricted area.

It should be understood by those skilled in the art that variousmodifications, combinations, sub-combinations and alterations may occurdepending on design requirements and other factors insofar as they arewithin the scope of the appended claims or the equivalents thereof.

Although the embodiments applied to the robot device with two facingwheels have been mainly described in this specification, the subjectmatter of the technology disclosed in this specification is not limitedthereto. The present technology can also be equally applied to a robotdevice with other moving means or with no moving means.

In addition, the embodiments related to the household robot have mainlybeen described. Of course, the present technology can also be equallyapplied to robot devices for various purposes including industrialrobots.

Namely, the present disclosure is merely an example, and should by nomeans be interpreted as limiting the content disclosed in thisspecification. The subject matter of the present disclosure is to bediscerned while taking into consideration the claims.

The present disclosure contains subject matter related to that disclosedin Japanese Priority Patent Application JP 2011-105514 filed in theJapan Patent Office on May 10, 2011, the entire content of which ishereby incorporated by reference.

What is claimed is:
 1. A movable device, comprising: a drive unitincluding a plurality of movable parts; a communication unit configuredto receive an instruction of a task, wherein the task is related tomovement of the plurality of movable parts; and one or more processorsconfigured to: control an operation of the drive unit based on thereceived instruction; set a time period for implementation of the task,wherein the set time period is between a current time instance and afinal time instance that is after the current time instance; calculate atrajectory of the movable device based on the task, wherein thetrajectory is calculated for the time period; divide the time periodinto a plurality of time instances based on the task; calculate aplurality of restricted areas for movement of the movable device suchthat each of the plurality of restricted areas corresponds to arespective time instance of the divided plurality of time instances,wherein each of the plurality of restricted areas is a circular area,wherein each circular area of a plurality of circular areas encirclesthe movable device, and wherein each of the plurality of circular areaspartially overlaps a corresponding adjacent circular area; and determinean operation space of the movable device along the calculated trajectorybased on the plurality of restricted areas.
 2. The movable deviceaccording to claim 1, wherein the one or more processors are furtherconfigured to: predict a space for movement of at least a movable partof the plurality of movable parts for the time period, wherein themovement of the at least movable part is based on the receivedinstruction for the task; and determine each of the plurality ofrestricted areas based on the prediction.
 3. The movable deviceaccording to claim 2, wherein the drive unit further includes a movingunit, wherein the moving unit is configured to move a position of themovable device, and wherein the one or more processors are furtherconfigured to: predict the space at a moving position at each timeinstance of the plurality of time instances until the time periodelapses; and determine each of the plurality of restricted areas basedon the prediction.
 4. The movable device according to claim 1, furthercomprising: a recognition unit configured to recognize an obstaclewithin a work environment of the movable device, and an area displayunit configured to display a restricted area of the plurality ofrestricted areas based on the recognition of the obstacle within therestricted area.
 5. The movable device according to claim 1, furthercomprising: a recognition unit configured to recognize an obstaclewithin a work environment of the movable device in a first time intervalof the time period, wherein the one or more processors are furtherconfigured to operate the task in a second time interval of the timeperiod based on an unavailability of the obstacle in a restricted areaof the plurality of restricted areas in the second time interval, andwherein the second time interval is after a lapse of the first timeinterval.
 6. The movable device according to claim 1, furthercomprising: a recognition unit configured to recognize an obstaclewithin a work environment of the movable device; and a warning unitconfigured to issue a warning to the obstacle based on the recognitionof the obstacle within a restricted area of the plurality of restrictedareas.
 7. The movable device according to claim 6, wherein the warningunit is further configured to issue the warning by at least one of amessage, a blank shot, a smell, or hot air.
 8. A method, comprising:inputting an instruction of a task; setting a time period forimplementation of the task based on the task, wherein the set timeperiod is between a current time instance and a final time instance thatis after the current time instance; calculating a trajectory of amovable device based on the task, wherein the trajectory is calculatedfor the time period; dividing the time period into a plurality of timeinstances based on the task; calculating a plurality of restricted areasfor movement of the movable device such that each of the plurality ofrestricted areas corresponds to a respective time instance of thedivided plurality of time instances, wherein each of the plurality ofrestricted areas is a circular area, wherein each circular area of aplurality of circular areas encircles the movable device, and whereineach of the plurality of circular areas partially overlaps acorresponding adjacent circular area; and determining an operation spaceof the movable device along the calculated trajectory based on theplurality of restricted areas.
 9. A non-transitory computer-readablemedium having stored thereon, computer-executable instructions, whichwhen executed by a computer cause the computer to execute operations,the operations comprising: inputting an instruction of a task; setting atime period for implementation of the task based on the task, whereinthe set time period is between a current time instance and a final timeinstance that is after the current time instance; calculating atrajectory of a movable device based on the task, wherein the trajectoryis calculated for the time period; dividing the time period into aplurality of time instances based on the task; calculating a pluralityof restricted areas for movement of the movable device such that each ofthe plurality of restricted areas corresponds to a respective timeinstance of the divided plurality of time instances, wherein each of theplurality of restricted areas is a circular area, wherein each circulararea of a plurality of circular areas encircles the movable device, andwherein each of the plurality of circular areas partially overlaps acorresponding adjacent circular area; and determining an operation spaceof the movable device along the calculated trajectory based on theplurality of restricted areas.